Add Open Drone ID arming check

[katzfey]

Solved Problem

The Open Drone ID system (aka Remote ID) should be present and healthy before the system can arm. There was no check for this so it has been added. A convenience parameter has also been added to change it to a warning but still allow arming or to disable the check completely.

[dirksavage88]

Some of this has been duplicated in #21647

[bkueng]

Good to go from my side.
@dirksavage88 are you ok with getting this in now? Or what's your preferred approach?

[dirksavage88]

I can update my PR to work with this one

[bkueng]

Alright, merging this.

[hamishwillee]

@bkueng Shouldn't we add to https://mavlink.io/en/messages/common.html#MAV_SYS_STATUS_SENSOR_EXTENDED and export this information?

The spec also indicates we should be listening to OPEN_DRONE_ID_ARM_STATUS and using that to set our health status too - but as far as I can tell our health check = connection check = 3 second heartbeat timeout.

I can see that we're reporting events, but they appear to be PX4-specific, and this is an standard feature.

Questions are to help me with docs.

[bkueng]

I'm ok with adding it but I'm not sure if that would create a redundancy as I'm not in-depth familiar with how open drone id messaging is supposed to work.

[hamishwillee]

Thanks @bkueng The spec actually states that the [OPEN_DRONE_ID_ARM_STATUS](https://mavlink.io/en/messages/common.html#OPEN_DRONE_ID_ARM_STATUS) must also be forwarded to the GCS ("must" seems a bit strong since you might not have one- I'm in discussion)

So I would expect PX4 to do that, and also to do whatever else we do when we fail a prearm check - an event I think.

No need to add to MAV_SYS_STATUS_SENSOR_EXTENDED then - though doing that would have made sense to me.

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/remote-id-coordination-july-11th/33191/1